Kinematics of Machines

Prof. A. K. Mallik
Department of Civil Engineering
Indian Institute of Technology, Kanpur
Module - 3 Lecture - 1
In an earlier lecture, we have already mentioned that there are two types of problems in
kinematics namely, kinematic analysis and kinematic synthesis. In kinematic analysis, we
determine the relative motion characteristics of a given mechanism. From todays lecture,
we shall start the discussion on this topic of kinematic analysis.
(Refer Slide Time: 01:02)

Broadly, we can classify the kinematic analysis problems into three headings namely,
displacement analysis, velocity analysis and acceleration analysis. For all these three
types of problems, that is displacement analysis, velocity analysis and acceleration
analysis, we can use either a graphical method or an analytical method.
In todays lecture, we shall discuss only the graphical method and that too only of
displacement analysis. Later on, we shall take up velocity analysis and acceleration
analysis. Let us see, what do you mean by a displacement analysis of a mechanism?
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(Refer Slide Time: 01:47)

If we have given the kinematic dimensions and the position or the movement of the input
link, then we should be able to determine the position or movement of all other links by
this displacement analysis. In the graphical method, first we draw the kinematic diagram
of the mechanism to a suitable scale and then the desired unknown quantities are
determined through suitable geometrical constructions and calculations. We shall
demonstrate this graphical method through a series of examples. However, before going
into the details of each and every example, let me list the main points that one should
remember while using graphical method of displacement analysis.

(Refer Slide Time: 02:41)

So, the main points are: First of all, we must remember that the configuration of a rigid
body in plane motion is completely defined by the location of any two points on it. That
means, if we know the location of any two arbitrary points of a rigid body in plane
motion, then we know the location of all other points on that rigid body.
The second point is as we will see when we solve the examples that very often, we will
need to draw two circles which are intersecting or a line and a circle which are
intersecting. We know that such intersection points can be two that means two
intersecting circles, in general intersect at two points. Similarly, a line and a circle also
intersect generally at two points. However, sometimes it may be necessary to choose the
correct point of intersection for the problem in hand. As I said, all these points will be
shown very clearly when we solve those particular examples.

(Refer Slide Time: 03:50)

The third problem is sometimes we may use a tracing paper as an overlay and we will see
that this will very convenient, especially if there are higher order links present in any
particular mechanism and lastly, we must know that the graphical method of
displacement analysis cannot be used unless there are adequate number of four-links
closed loops in the particular mechanism. Unless, we have adequate number of four-links
closed loops, the graphical method of displacement analysis cannot proceed.
So, let me start with the first example, which is a slotted lever quick return mechanism
which is used in shipping machines. First, I will show the model, then the kinematic
diagram of the same mechanism and then post the question of displacement analysis.

(Refer Slide Time: 04:43)

This is the model of the quick return mechanism that is used in shipping machine. This is
the cutting tool. This tool holder moves in a slot in the frame of the machine. This is
called the bull gear, which is rotated at a constant speed. Here is a block, which is hinged
to the bull gear and this block moves up and down in this slotted lever, the slotted lever is
hinged to the frame at this point and the slotted lever is connected to the tool holder by an
additional link. So, we have a six-link mechanism where the continuous uniform rotation
of the bull gear is converted into the to and fro motion of the cutting tool. The cutting tool
during the forward motion is doing useful work and we have to maintain a proper cutting
speed. However, during the return stroke of the tool, this is not doing any useful work, so
I would like to make the return faster and that is why, it is called quick return mechanism.
As we see very clearly, if I rotate the bull gear at almost uniform speed, the forward
motion is slow but the return is faster.

(Refer Slide Time: 06:05)

This is the kinematic diagram of the six-link slotted lever mechanism, the model of which
we have just seen. Here, this link O 2 A, that is link number 2 represents the bull gear, link
number 3 is the block which goes up and down in the slotted lever, which is link number
4, link number 5 connects the slotted lever to the tool holder, which is represented by link
6. So, we have a six-link mechanism with a revolute pair at O 2 , revolute pair at O 4 ,
revolute pair at A, revolute pair at B, revolute pair at D and there are two prismatic pairs,
one between 1 and 6 in this horizontal direction and there is a prismatic pair between link
3 and 4 along the slotted lever. The problem is if link 2 rotates at a constant speed say,
omega 2 then we have to find, what we call Q.R.R- Quick Return Ratio.

(Refer Slide Time: 07:11)

By Quick Return Ratio we mean the time that the tool takes for the forward motion and
ratio of the time taken for the forward motion and the backward motion.
(Refer Slide Time: 07:23)

If link 2 is rotating at a constant speed, say omega 2, then the time it takes for the forward
motion is theta forward that is the rotation of the link 2 during the forward motion and
backward motion is say return, theta r where theta r is the rotation of link 2 during the

return motion. So the problem is during this mechanism, can we find the quick return
ratio? Before I start solving the problem, let me restate the problem for your benefit,
which is what we are taking as our example 1.
(Refer Slide Time: 08:04)

Example 1 is determination of quick return ratio of a slotted lever mechanism used in

shapers. It is already been seen that the quick return ratio which is defined as q.r.r is equal
to theta f divided by theta r , where theta f is the rotation of link 2 during the forward motion
and theta r is the rotation of same link 2, that is the bull gear during the return motion of
the cutting tool. Of course, we are assuming that the angular speed of link 2 remains
constant.

(Refer Slide Time: 08:42)

Let us now return to the kinematic diagram of the same slotted lever quick return
mechanism in which link 2, that is this line O 2 A represents the bull gear of the input link
and link 6, that is this block D represents the tool holder of the cutting tool. As this bull
gear rotates counterclockwise direction, this tool moves from right to left and left to right.
This motion from right to left is the cutting motion and left to right is the return motion.
Our objective is to determine the quick return ratio of this particular mechanism and also
to determine what the stroke length of the tool is.
To analyze the problem, let me first note that this point A moves along this circle whose
centre is at O 2 , the radius is O 2 A. That is, this circle represents the path of the point A
and I call it k A . To locate the extreme positions of the slotted lever, that is this link 4, I
draw two tangents from the point O 4 to this circle k A . This is the tangent to the right and
similarly, this is the tangent to the left. Consequently, the right most position of this
slotted lever, that is link 4 is represented by this line and the left most extreme position of
the same slotted lever O 4 B is represented by this line. When the slotted lever along these
two lines, the point A this at this location let me call it A R and at this position, let me call
A L . Since the distance O 4 B does not change, I can also locate right most position of the
revolute pair at B by drawing this circular arc with O 4 as centre and O 4 B as radius. So, I
gave this point which I call B R , denoting the right most position of B.
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The same way on this line O 4 A L , I locate the left most position of the revolute pair B L .
Now, let us notice that the point D is going along this horizontal straight line and the
distance BD does not change. So, when B occupies B R , let me locate where D R is. To do
that, I draw a circular arc with B R as centre and B D as radius intersects this horizontal
line. That is the line of the stroke of the cutting tool at this point which I mark as D R . So
D R indicates the extreme right most position of link 6.
The same way, I can look at D L on the same horizontal line. This is the line of movement
of D and D does not change, B L is here. So, I draw a circular arc with B L as centre and
B D as radius to locate the extreme position of the point D which I call D L . So this
distance D L , D R represents the stroke of the cutting tool according to the scale of the
figure. Now to find out the quick return ratio, we see that the link O 2 A rotates from
O 2 A R to O 2 A L during the forward movement. So, this is the angle through which link 2
is rotating through its forward movement which I call theta f .
Same way, during the return motion, the point A is going from A L to A R , that is link O 2 A
is going from O 2 A L to O 2 A R and rotating through an angle which I call theta r . So, we
can easily determine the quick return ratio, q.r.r as the ratio of the angle theta f divided by
theta r . We have solved the problem. We have determined this given slotted lever quick
return mechanism. The quick return ratio is given by theta f divided by theta r and the
stroke of the tool as D R D L for the particular given mechanism. We also note that if the
stroke length D R D L has to be decreased then I have to change the length O 2 A. As we
decrease the length O 2 A, the distance D R D L will change, that is the stroke length of the
tool will be decreased. However, as we decrease the radius O 2 A then this tangent from
this O 4 to this circle k A , that is these points A R and A L move upward and the angle theta f
and theta r both tend to value 180 degree. Consequently, q.r.r which is theta f divided by
theta r , when both of them tend to the same value 180 degree, q.r.r reduces. That is, this
mechanism is okay for producing quick return effect as long the stroke of the tool is
sufficiently large, quick return effect continuously decreases as the stroke length of the
tool decreases.

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We have just now explained the slotted lever quick return mechanism used for shipping
machines is not good for smaller stroke length because the quick return ratio tends to
become 1. That is, the quick return ratio decreases with decreasing stroke length.
(Refer Slide Time: 15:39)

However, for slotting machine where the stroke lengths are normally short, we have to
have different types of quick return mechanism where the quick return ratio is the
independent of the stroke length. Such a mechanism is called Whitworth quick return
mechanism. So we shall first see the model of such a Whitworth quick return mechanism
then, pose the same problem as example 2, determine the quick return ratio of this
Whitworth quick return mechanism and also see how it is independent of the stroke
length of the tool. Before showing the model and solving the problem, let me restate the
problem for your benefit.

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(Refer Slide Time: 16:32)

This is our example 2, that is determination of quick return ratio of Whitworth quick
return mechanism used in slotting machines. As I said earlier, we will also show that in
this mechanism the quick return ratio will be independent of the stroke length.
(Refer Slide Time: 16:46)

This is the model of Whitworth quick return mechanism. Here, the cutting tool is this one
which is moving in this horizontal slot. So, if we rotate the input link at a constant speed,

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this is obvious that the forward and return motion of the tool is taking at different time. It
is going much faster in this direction and coming back slower in this direction. So, if we
consider this as the cutting tool, which is cutting in that direction, then we should rotate it
in the opposite direction. It is cutting slowly and returning much faster. We shall see the
kinematic diagram of this Whitworth quick return mechanism and analyze its quick
return ratio.
(Refer Slide Time: 17:40)

This is the kinematic diagram of that Whitworth quick return mechanism. As we see, this
is also a six-link mechanism with five revolute pairs and two prismatic pairs. This link 6
is the tool holder and link 2 is the input link which rotates at constant angular speed, link
3 is the block which goes along link 4 at this prismatic pair, link 4 is hinged to the fixed
link at O 4 , link 2 is hinged to the fixed link at O 2 , link 4 or 5 are connected by this
revolute pair at C. Link 5 and 6 are connected by this revolute pair and link 6 has a
prismatic pair with fixed link 1 along this horizontal direction. For the given kinematic
dimensions, our objective is to determine the quick return ratio. If the link 2, that is input
link rotates at constant angular speed.
First thing to note that the stroke of the tool that is, this 6 is entirely decided by the length
O 4 C. When D goes to the right most position in this direction, C comes on this line, O 4 C

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and CD becomes collinear. Similarly, for the left most position of this link 6, again O 4 C
and CD becomes collinear but C comes on this side on the line O 4 D and the stroke length
of the tool is obviously equal to twice of O 4 C because the maximum distance is O 4 C plus
CD and the minimum distance is CD minus O 4 C. So, the total movement of the tool is
given by twice O 4 C, that is the stroke length is changed by changing the length O 4 C, no
change is made in the length O 2 A, whereas, we shall see that the quick return ratio will
be entirely decided by the link length O 2 A, the position of O 2 and the position of this
horizontal line.
(Refer Slide Time: 20:07)

This is the kinematic diagram of the same Whitworth quick return mechanism which we
have just seen. This link O 2 A is the input link number 2 and this link 6 is the output link,
that is the tool holder. Due to continuous uniform rotation of this input link 2, this tool
holder 6 oscillates along this horizontal line.
The point to note is this point A moves on a circle with O 2 as centre and O 2 A as the
radius. This is the path of the point A, let me call it k A . Again, we should note that the
point A, O 4 and C always lie on the same straight line and O 4 is never moving. So, when
the point A comes here, that is the point of intersection k A and the line of reciprocation of
the tool, let me call this point of intersection is A to the power L. Corresponding to this

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position of A, since A, O 4 and C are always on one line, C will also be on this horizontal
line and at a distance O 4 C from O 4 , because this is also a link length which is not
changing. Corresponding position of C, as C moves on this circle with O 4 as centre and
O 4 C as radius. So, I will call this point C to the power L that is, the left most position of
C. Correspondingly, D will move here such that C to the power L, D to the power L is
CD because this link length is also not changing. So, this is the left most position of the
tool holder. Let me call it D to the power L.
Exactly the same way, when the point A occupies this point, which is the intersection of
k A and the line of reciprocation of the tool through O 4 , let me call this point of
intersection as A to the power of R. Since C is moving on this circle and A, O 4 and C
must be on line, if I draw this circle, that is the path of C, when it intersects this line of
reciprocation, I will call that the intersection as C to the power of R. Again, the distance
CD is unique. So, from C to the power of R, if I draw an arc with CD as the radius, I get
the right most position of D, which I call D to the power of R. Thus, this tool that is this
link 6 moves from D to the power L to D to the power R that is, the stroke length which is
exactly equal to two times O 4 C.
However, during this movement from D to the power L to D to the power of R, the point
A goes from A to the power L to A to the power of R, from D to the power of R to D to
the power L, the point A goes from A to the power of R to A to the power L. As we see
the O 2 A, this link is rotating with constant input speed. So from right to left, the rotation
is this angle, which I call theta f and from left to right it rotates only through this angle
which is 2 pi minus theta f . That is, during the return stroke theta r is 2 pi minus theta f and
the quick return ratio is theta f divided by theta r . As we see, the stroke length can be
changed by changing the length O 4 C which has no role to play so far as these two lines
are concerned, that is O 2 A to the power L and O 2 A to the power of R that is decided by
the intersection of the circle k A and the line of reciprocation of this point D. So, the quick
return ratio remains same even if we change the link length O 4 C which causes a change
in the stroke length. So, this is the quick return ratio of the Whitworth quick return
mechanism which is independent of the stroke length.

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(Refer Slide Time: 25:02)

As our next example, let us consider another six-link mechanism which is shown in this
figure. Here, as we see there is a four-bar mechanism O 2 ABO 4 . Link 4 of this four-link
mechanism, that is this link is connected to another link 5 at this compound hinge B
where 3 links are connected namely, 3, 4 and 5. Link 5 is connected to this slider which is
link 6 and slider has a prismatic pair with the fixed link such that the point D moves in
the horizontal direction. The question is if this link O 2 A, that is link number 2 rotates
completely, what is the stroke length of the slider at D? The scale of the diagram has been
shown here that this distance is equal 5 cm.
For this problem, first we have to see that the four-link mechanism O 2 ABO 4 happens to
be a crank rocker because the maximum link length O 2 A for which I may call l 1 as l max
and l 2 as l min , l max plus l min is less than l 3 plus l 4 , that is the other two link lengths. So, this
is the Grashof linkage with O 2 A as the shortest link. Consequently, this link O 2 A will
rotate completely. We have to find out what is the maximum right most position of this
point D and what is the left most position of this point D such that I can determine D L
and D R which will give the stroke length of the slider 6. Before we solve this problem, let
me write out this problem for your benefit.

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(Refer Slide Time: 27:15)

This is our third example and example 3 is the figure shows a six link mechanism.
Determine the stroke-length of the output link, that is the slider 6. Also, determine the
quick return ratio assuming the constant angular speed of link 2.
(Refer Slide Time: 27:31)

Let us solve this example 3 and the kinematic diagram of that mechanism is shown here
again. The problem is first to find out the stroke length of this link 6, that is the slider at

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D. To find the extreme right position of the point D, first we have to find out what is the
extreme right position of this point B? Due to this length O 4 B that is link 4, B moves on a
circle with O 4 as centre and O 4 B as radius. This circle represents the path of B. Let me
call it k B . The extreme right position of the point B will be taken up. As we have
discussed earlier, when link 2, that is O 2 A and link 3, that is AB become collinear. So the
extreme position of B let me call it B to the power of R, when O 2 B to the power of R is
equal to O 2 A plus AB. So, I take O 2 A plus AB and from O 2 , I mark that distance at B
arc.
Let me repeat. B moves on this circle and at the extreme position, O 2 A and AB become
collinear. So, O 2 B to the power of R becomes O 2 A plus AB. Similarly, for the extreme
left position, again link 2 and link 3 become collinear but O 2 A comes here. Let me call it
A to the power L. This A to the power L B to the power L is equal to AB and this point
becomes B to the power of L. That is, O 2 B to the power L becomes the difference of the
link lengths AB minus O 2 A. So, I take the difference of AB and O 2 A and take that from
O 2 and mark it on k B . The link 4 oscillates from O 2 B to the power of R to O 2 B to the
power L. So, this is a crank rocker mechanism and this is the rocking movement of the
link 4. BD is of fixed length and B moves on this horizontal line. From this B to the
power of R, if I mark this is BD. From B to the power of R, I mark this circle and
wherever it intersects the horizontal line through D that determines the extreme position
of D, I call it D to the power of R.
Similarly, from B to the power L, again taking the same length BD, I draw a circular arc
and wherever it intersects this horizontal line through D that determines the extreme left
position of D, that is D to the power L. So, this distance D to the power of L D to the
power of R determines the stroke length of this slider 6. Now, to determine the quick
return ratio that is the time taken from left to right and right to left, I can find out
assuming, of course that link 2 rotates at uniform speed. For B to the power of R, the
corresponding point of A and this is the circle on which A moves with O 2 as centre and
O 2 A as radius which we call k A . For the extreme right position A comes here, let me call
it A to the power of R and for the extreme left position, that is B to the power L, this point
which we have already mark as A to the power L. As the link rotates uniformly from
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right to left, the rotation of O 2 A is given by this angle, that is the angle between O 2 A to
the power of R and O 2 A to the power L, from left to right, the rotation of same link 2 is
given by this angle, that is 2 pi minus this. So if I call from right to left, that is the
forward motion is theta f and return motion is theta r . Of course, theta r is nothing but 2 pi
minus theta f and q.r.r-the quick return ratio of this mechanism, we obtain as theta f by
theta r .
Let me summarize, what we have learned today. We have done the graphical method of
displacement analysis and have discussed three different examples of six link mechanism
to show how graphically, we can determine the quick return ratio or stroke length once
the kinematic dimensions of those mechanisms are given. We started with a slotted lever
quick return mechanism used in shipper machines where we saw that the quick return
ratio depends on the stroke length.
Then we discussed the Whitworth quick return mechanism where the quick return effect
is independent of the stroke length and in the third example, we have seen how from a
Grashof Crank Rocker linkage. We can again get a quick return mechanism by using two
more extra links and converting it to a six link mechanism. We have also seen that
whenever we need the point of intersection of a straight line and a circle, we have to
choose a correct point of intersection.
In our next lecture, we shall discuss a little more involved and difficult problems on
displacement analysis.

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